Hydraulic acuator

ABSTRACT

A hydraulic actuator includes a hollow tube that has a first opening at a first end of the hollow tube and that has a second opening at a second end of the hollow tube. The hollow tube contains hydraulic fluid. A moveable magnet moves within hollow tube as a result of a magnetic field within the hollow tube. A magnetic field source located outside the hollow tube creates the magnetic field within the hollow tube. When the moveable magnet moves to the first end of the hollow tube, a first piston pushes hydraulic fluid out of the first opening. When the moveable magnet moves to the second end of the hollow tube a second piston pushes hydraulic fluid out of the second opening.

BACKGROUND

Hydraulic cylinders are mechanical actuators that get power frompressurized hydraulic fluid. A hydraulic cylinder typically includes acylinder barrel in which a piston connected to a piston rod moves backand forth. The piston divides the hydraulic cylinder into a firstchamber and a second chamber. When the hydraulic pump pushes hydraulicfluid into the first chamber, a valve in the second chamber is openallowing hydraulic fluid to drain from the second chamber into areservoir as movement of the piston within the hydraulic cylinderincreases the volume of the first chamber and correspondingly reducesthe volume of the second chamber. Likewise, when the hydraulic pumppushes hydraulic fluid into the second chamber, a valve in the firstchamber is open allowing hydraulic fluid to drain from the first chamberinto the reservoir as movement of the piston within the hydrauliccylinder increases the volume of the second chamber and correspondinglyreduces the volume of the first chamber.

Typically, the hydraulic pump runs at a constant speed to producehydraulic pressure. If motion is not imminent, the unused pressuredhydraulic fluid is returned to the reservoir or stored in anaccumulator.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 shows a hydraulic actuator system in accordance with anembodiment.

FIG. 2 is a simplified flow chart illustrating operation of anelectronic control circuit within the hydraulic actuator system shown inFIG. 1 in accordance with an embodiment.

FIG. 3 shows the hydraulic actuator system shown in FIG. 1 integrated aspart of a robotic joint in accordance with an embodiment.

FIG. 4 shows a hydraulic actuator used with a hydraulic cylinder inaccordance with an embodiment.

DETAILED DESCRIPTION

FIG. 1 shows a hydraulic actuator system. The hydraulic actuatorincludes a hydraulic actuator 10. A cross section of hydraulic actuator10 is shown in FIG. 1.

A hollow tube 13 is encased by wire windings, represented in FIG. 1 bywire windings 1, wire windings 2, wire windings 3, wire windings 4, wirewindings 5 and wire windings 6. Wire windings 1 are separated from wirewinding 2 by a space 7. Wire windings 2 are separated from wire winding3 by a space 8. Wire windings 3 are separated from wire winding 4 by aspace 9. Wire windings 4 are separated from wire winding 5 by a space20. Wire windings 5 are separated from wire winding 6 by a space 30.While FIG. 1 shows six separate windings—wire windings 1, wire windings2, wire windings 3, wire windings 4, wire windings 5 and wire windings6—the number of wire windings is exemplary and can be varied from one totwenty or even more depending on application and implementerpreferences.

Activating current through a subset of the wire windings produce amagnetic field within hollow tube 13. A magnet 15 within hollow tube 13moves as a result of and in response to the magnetic field produced bycurrent through the subset of wire windings. For example, magnet 15 is arare earth cylindrical magnet. For example, the wire windings are placedover a copper tube 13 and within a ferrous metal tube 11. Ferrous metaltube 11 contains and intensifies the magnetic field produced by placingcurrent through the subset of wire windings.

Current through the wire windings produces a Lorentz force that willresult in a motional electromotive force on magnet 15 that moves magnet15 within hollow tube 13. A piston 17 and a piston 16 isolate magnet 15from hydraulic fluid 14 within tube 13. An electronic control circuit 19provides current to the selected subsets of the wire windings to controlmovement of magnet 15. By controlling amplitude of the current anddirection of the current through the windings, electronic controlcircuit can precisely control position of moving magnet 15 within hollowtube 13. The motional electromotive force placed on magnet 15 variesbased on a number of factors such the number of windings in each of thewire windings, the density of windings, the amount of current placedthrough the selected wire windings, the direction of the current placedthrough the selected wire windings, the size and shape of magnet 15, themagnetic properties of magnet 15, the proximity of the magnet 15 to thewire windings and so on.

For example, each of wire windings 1, wire windings 2, wire windings 3,wire windings 4, wire windings 5 and wire windings 6 are separatelyconnected to electronic control circuit 19 allowing electronic controlcircuit 19 to separately control current through each of the wirewindings. For example, electronic control circuit 19 can place pulsewidth current signals with current flowing in opposite directions oneach of two adjacent wire windings. The resulting magnetic field willplace and hold magnet 15 in a particular location within hollow tube 13in proximity of the two adjacent wire windings. By independently varyingthe pulse width duration in each of the two adjacent wire windingselectronic control circuit 19 can move magnet 15 in either directionalong hollow tube 13.

For example, when magnet 15 is in the proximity of wire windings 3 andwire windings 4, electronic control circuit 19 can control pulse widthsignals in wire windings 3 and wire windings 4 to move magnet 15 towardswire windings 5. Then electronic control circuit 19 can stop the currentin wire windings 3 and can control pulse width signals in wire windings4 and wire windings 5 to move magnet 15 towards wire windings 6. And soon. For more information on using pulse width current signals throughwire windings to create a Lorentz force to precisely move a magnetthrough magnetic fields, see for example, Bryan Craig Murphy, “Designand Construction of a Precision Tubular Linear Motor and Controller”,Submitted to Texas A&M University, May 2003; Tony Morcos, “The StraightAttraction Part 1” Motion Control, June 2000, pp. 29-33; and TonyMorcos, “The Straight Attraction Part 2” Motion Control, July/August2000, pp. 24-28.

When electronic control circuit 19 applies current through varioussubsets of the windings to move magnet 15 towards a sealing piston seat18 at an end of tube 13, hydraulic fluid is forced by piston 17 througha flexible hydraulic fluid transport hose 31 and into a hydraulic muscle32. Hydraulic muscle 32 contracts as it receives hydraulic fluid.Attachment structure 33 is pulled and can be used to pull a load, suchas is necessary when flexing a robot arm. Also, as electronic controlcircuit 19 moves magnet 15 towards sealing piston seat 18 of tube 13,hydraulic fluid is drawn by piston 16 into tube 13 from a flexiblehydraulic fluid transport hose 34 and out of a hydraulic muscle 35. Thisallows hydraulic muscle 35 to relax and be extended. As can be seen bythe above discussion, hollow tube 13 needs to be sufficiently large toprovide a volume of hydraulic fluid to hydraulic muscle 32 so thathydraulic muscle 32 can sufficiently contract a desired amount and toprovide a volume of hydraulic fluid to hydraulic muscle 35 so thathydraulic muscle 35 can sufficiently contract a desired amount.

A feedback sensor 38, electrically connected to electronic controlcircuit 19, can be used to monitor extension of attachment structure 36.This can allow electronic control circuit 19 to precisely controlmovement. While in FIG. 1, feedback sensor 38 is shown positioned tomonitor extension of attachment structure 36, feedback sensor 38 can belocated at other locations to monitor other phenomena, such as locationof attachment structure 33, to provide feedback information toelectronic control circuit 19. Also, more than one feedback sensor canbe used.

When electronic control circuit 19 applies current through varioussubsets of the windings to move magnet 15 towards a sealing piston seat39 at another end of tube 13, hydraulic fluid is forced by piston 16through a flexible hydraulic fluid transport hose 34 and into ahydraulic muscle 35. Hydraulic muscle 35 contracts as it receiveshydraulic fluid. Attachment structure 36 is pulled and can be used topull a load, such as is necessary when flexing a robot arm. Also, aselectronic control circuit 19 moves magnet 15 towards sealing pistonseat 39 of tube 13, hydraulic fluid is drawn by piston 17 into tube 13from a flexible hydraulic fluid transport hose 31 and out of a hydraulicmuscle 32. This allows hydraulic muscle 32 to relax and be extended.

The use of motional electromotive force on magnet 15 to pressurizehydraulic fluid makes it easy to allow for compliance to obstructions.That is, when an unexpected obstruction is met during movement, theincreased resistance to movement can be detected by the jump in currentrequired to continue the motion. Electronic control circuit 19 can limitthe current resulting in stopping the motion of magnet 15 within themagnetic field produced by wire windings 1, wire windings 2, wirewindings 3, wire windings 4, wire windings 5 and wire windings 6.

FIG. 2 is a simplified flow chart illustrating operation of electroniccontrol circuit 19. When operation is started, as illustrated by a block70, electronic control circuit 19, in a block 71 will wait until aposition command is received. For example, a position command is sent bya computer, or some other user device in communication with electroniccontrol circuit 19 and configured to send position commands toelectronic control signal 19.

When a position command is received, in a block 72, electronic controlcircuit 19 will compare a requested position in a position command to acurrent position reported by feedback sensor 38 to calculate a positionerror. The position error tells how far and what direction attachmentstructure 36 needs to move in order to be in the requested position. Ina block 73 electronic control circuit 19 will generate current throughwire windings 1, wire windings 2, wire windings 3, wire windings 4, wirewindings 5 and wire windings 6. that will move magnet 15 in a directionthat will cause attachment structure 36 to move closer to the requestedposition. In a block 74, information from feedback sensor 38 will bemonitored until attachment structure 36 is in the requested position.

If it is desired to control speed of motion, commands to electroniccontrol circuit can specify a requested speed of motion (e.g., slow,medium, fast) and electronic control circuit can control current placedthrough the wire windings to accommodate the requested motion speed.

The hydraulic actuator system shown in FIG. 1 can be attached to a leveron a pivot or rack and pinion gear to produce various movements, such asa limited circular movement. Multiple hydraulic actuator systems can beconnected together to produce multiple degrees of freedom, such as inthe joints of robot arms or legs.

For example, FIG. 3 shows the actuator system of FIG. 1 used as part ofa movable joint in a robotics system. Hydraulic actuator 10 is connectedto a lever 50 at a pivot 52. Hydraulic muscle 32 is anchored tohydraulic actuator 10 by a bracket 42. Hydraulic muscle 35 is anchoredto hydraulic actuator 10 by a bracket 44. Attachment structure 33 isanchored at pivot 54 to an arm 51 of lever 50. Attachment structure 36is anchored at pivot 55 to an extended portion 53 of lever 50. Whenhydraulic muscle 32 pulls attachment structure 33, robotic arm 51 pullstoward hydraulic muscle 32 and hydraulic actuator 10. When hydraulicmuscle 35 pulls attachment structure 36, robotic arm 51 extends awayfrom hydraulic muscle 32 and hydraulic actuator 10. Robotic arm 51 andhydraulic actuator 10 thus together act as a joint in a robotics system.

FIG. 4 shows another embodiment where a hydraulic actuator 60 isconnected to a hydraulic cylinder 65. When a magnet within hydraulicactuator 60 is moved towards an end 62 of hydraulic actuator 60,hydraulic fluid is pushed through a flexible hydraulic fluid transporthose 64 into hydraulic cylinder 65 to correspondingly extend a piston 66out of hydraulic cylinder 65. When the magnet within hydraulic actuator60 is moved towards an end 61 of hydraulic actuator 60, hydraulic fluidis pushed through a flexible hydraulic fluid transport hose 63 intohydraulic cylinder 65 to correspondingly retract piston 66 intohydraulic cylinder 65. A feedback sensor 67 monitors position of piston66 and communicates position information to an electronic control systemof hydraulic actuator 60.

In the above-discussed embodiments, piston 16, piston 17, sealing pistonseat 18 and sealing piston seat 39 are constructed for complete sealwith no slippage of hydraulic fluid. Alternatively, any or all of piston16, piston 17, sealing piston seat 18 and sealing piston seat 39 can beconstructed to allow some pressurized hydraulic fluid to slip past at acertain predetermined pressure to allow for compliance when obstructionsin movement are encountered. If this results in loss of calibration ofhydraulic actuator 10 or air in fluid chambers, this can be alleviatedby appropriately bleeding the hydraulic system of hydraulic actuator 10.

Also in the above-described embodiments, electronic control system 19controls movement of magnet 15 in two directions. In an alternativeembodiment, the magnet can be spring loaded on one end to so that motionin one direction is achieved by motional electromotive force and motionin the other direction is achieved by force from the spring.

Also in the above-described embodiments, magnet 15 moves while the wirewindings are stationary with respect to hollow tube 13. In analternative embodiment, magnets may be fixed to a hollow tube and beused as a magnetic field source. Within the hollow tube a moveablemagnet is an electromagnet that includes wire windings. Theelectromagnet moves within the hollow tube and as a result of and inresponse to the magnetic field created by the magnetic field sourceinteracting with the magnet qualities of the moveable magnet produced bythe amplitude and current placed through the wire windings.

Also in the above-described embodiments, a hydraulic actuator is shownconnected to hydraulic muscles and a hydraulic cylinder. In alternateembodiments, a hydraulic actuator can be connected to other hydraulicdevices. For example, hydraulic actuator 10 can be connected to ahydraulic bladder and used to inflate and deflate the hydraulic bladderto alternate a state of the hydraulic bladder between a limp flexiblecondition and a stiff or rigid condition.

The size of hydraulic actuator 10 can be scaled to be larger or smallerto fit requirements of a particular implementation. Hydraulic actuator10 can be used in products that need circular hydraulic muscle effectsthat tighten or loosen around an object, producing a squeezing force.The double action valve function of hydraulic actuator 10 bothpressurizes fluid depressurizes fluid depending on a configuration ofthe hydraulic actuator system. Hydraulic actuator 10 can be used withany product that needs to efficiently and fluidly move a load in astraight line in either direction over a limited distance.

The foregoing discussion discloses and describes merely exemplarymethods and implementations. As will be understood by those familiarwith the art, the disclosed subject matter may be embodied in otherspecific forms without departing from the spirit or characteristicsthereof. Accordingly, the present disclosure is intended to beillustrative, but not limiting, of the scope of the invention, which isset forth in the following claims.

What is claimed is:
 1. A moveable joint of a robotic device comprising:a first rigid structure; a second rigid structure connected to the firstrigid device at a pivot; a hydraulic muscle connected to the first rigidstructure and to the second rigid structure; a hollow tube, having afirst opening at a first end of the hollow tube and having a secondopening at a second end of the hollow tube; hydraulic fluid within thehollow tube; a magnet within the hollow tube; a first piston on a firstend of the magnet wherein when the magnet moves toward the first end ofthe hollow tube the first piston pushes hydraulic fluid out of the firstopening; a second piston on a second end of the magnet wherein when themagnet moves toward the second end of the hollow tube the second pistonpushes hydraulic fluid out of the second opening; and a positioningsystem that allows precise positioning to place and hold the magnet atany selected location the magnet can reach between the first end of thehollow tube and the second end of the hollow tube, the positioningsystem including: a plurality of sets of wire windings around the hollowtube, and a control circuit that is separately connected to each set ofwire windings allowing the control circuit to separately control currentthrough each set of wire windings, the current through each set of wirewindings creating a magnetic field that exerts a motional electromotiveforce on the magnet controlling movement and location of the magnetwithin the hollow tube so that in response to a positioning command, thecontrol circuit separately controls current through each set of wirewindings to hold the magnet at a selected position between the first endof the hollow tube and the second end of the hollow tube; whereinhydraulic fluid pushed out of the first opening of the hollow tube ispushed into the hydraulic muscle.
 2. A moveable joint as in claim 1,wherein the control circuit determines the current to be placed througheach set of wire windings by comparing a precise location to currentposition to calculate a position error, and then places current througheach set of wire windings as necessary to reduce the position error. 3.A moveable joint as in claim 2, wherein when the position error is equalto zero, the control circuit maintains the magnet at the preciselocation.
 4. A moveable joint as in claim 1, wherein in response to acommand to control speed of motion, the control circuit separatelycontrols amount of the current through each set of wire windings tobring the magnet to the precise location at the speed specified by thecommand.
 5. A moveable joint as in claim 1, wherein the moveable magnetis a rare earth magnet.
 6. A moveable joint as in claim 1, wherein thecontrol circuit uses pulse width current signals to create a Lorentzforce to precisely move the magnet.
 7. A moveable joint as in claim 1:wherein when the magnet moves to the first end of the hollow tube thesecond piston draws hydraulic fluid from the second opening into thehollow tube; and, wherein when the magnet moves to the second end of thehollow tube the first piston draws hydraulic fluid from the firstopening into the hollow tube.
 8. A moveable joint as in claim 1,additionally comprising: a copper tube placed over a portion of thehollow tube, the wire winding being located on top of the copper tube.9. A moveable joint as in claim 1, additionally comprising: a coppertube placed over a portion of the hollow tube, wherein each set of wirewindings is located on top of the copper tube; and, a ferrous metal tubeplaced over the plurality of sets of wire windings.
 10. A moveable jointcomprising: a first rigid structure; a second rigid structure connectedto the first rigid device at a pivot; a hydraulic muscle connected tothe first rigid structure and to the second rigid structure; a hollowtube, having a first opening at a first end of the hollow tube andhaving a second opening at a second end of the hollow tube; hydraulicfluid within the hollow tube; a moveable magnet within the hollow tube,the moveable magnet moving within hollow tube as a result of a magneticfield within the hollow tube; a first piston on a first end of themoveable magnet, wherein when the moveable magnet moves toward the firstend of the hollow tube, the first piston pushes hydraulic fluid out ofthe first opening; a second piston on a second end of the moveablemagnet, wherein the controller controls magnitude and polarity of eachmagnetic field separately to control location and motion of the moveablemagnet with the hollow tube; and, a controller that precisely controlspositioning of the moveable magnet to move and hold the moveable magnetat selected locations between the first end of the hollow tube and thesecond end of the hollow tube, wherein the precise control ofpositioning is performed in response to positioning commands, separatelycontrolling magnitude and polarity of each of a plurality of magneticfields to hold the moveable magnet at a selected location; whereinhydraulic fluid pushed out of the first opening of the hollow tube ispushed into the hydraulic muscle.
 11. A moveable joint as in claim 10,wherein the control circuit compares a selected location to currentposition to calculate a position error, and then varies magnitude andpolarity of at least one of the plurality of magnetic fields asnecessary to reduce the position error.
 12. A moveable joint as in claim11, wherein when the position error is equal to zero, the controlcircuit maintains the magnet at the selected location.
 13. A moveablejoint as in claim 10, wherein in response to a command to control speedof motion, the control circuit separately controls magnitude of at leastone of the plurality of magnetic fields to bring the magnet to theprecise location at the speed specified by the command.
 14. A moveablejoint as in claim 10, wherein each magnetic field is generated with aseparate set of wire windings.
 15. A moveable joint as in claim 10,additionally comprising: a feedback sensor that monitors action of ahydraulic device to provide feedback information to the control circuit.16. A moveable joint as in claim 10, wherein the control circuit usespulse width current signals to create a Lorentz force to precisely movethe magnet.
 17. A moveable joint as in claim 10, wherein the moveablemagnet includes wire windings.
 18. A device comprising: a hollow tube,having a first opening at a first end of the hollow tube and having asecond opening at a second end of the hollow tube; hydraulic fluidwithin the hollow tube; a moveable magnet within the hollow tube, themoveable magnet moving within hollow tube as a result of a magneticfield within the hollow tube; a first piston on a first end of themoveable magnet, wherein when the moveable magnet moves toward the firstend of the hollow tube, the first piston pushes hydraulic fluid out ofthe first opening; a second piston on a second end of the moveablemagnet, wherein the controller controls magnitude and polarity of eachmagnetic field separately to control location and motion of the moveablemagnet with the hollow tube; and, a controller that precisely controlspositioning of the moveable magnet to move and hold the moveable magnetat selected locations between the first end of the hollow tube and thesecond end of the hollow tube by, wherein the precise control ofpositioning is performed by, in response to positioning commands,separately controlling magnitude and polarity of each of a plurality ofmagnetic fields to hold the moveable magnet at a selected location; ahydraulic cylinder; a cylinder piston extending out of the hydrauliccylinder; wherein hydraulic fluid pushed out of the first opening of thehollow tube is pushed into the hydraulic cylinder to control an amountby which the cylinder piston extends out of the hydraulic cylinder. 19.A device as in claim 18, wherein the control circuit compares a selectedlocation to current position of the cylinder piston to calculate aposition error, and then varies magnitude and polarity of at least oneof the plurality of magnetic fields as necessary to reduce the positionerror.
 20. A device as in claim 19, wherein when the position error isequal to zero, the control circuit maintains the magnet at the selectedlocation.